Robust Control Schemes for a Pediatric GAit Exoskeleton System in Passive-assist and Active-assist Mode

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Over the years, a significant rise in neurological disorders has been observed for different age groups, such as stroke, spinal cord injury (SCI), and cerebral palsy (CP). Many pediatric subjects face dyskinesia and muscle atrophy in their lower limbs. In the last few years, the proliferation of exoskeleton technology has enabled the therapy process to be less cumbersome and more sustainable. However, there are minimal exoskeleton devices available for pediatric gait rehabilitation. Moreover, the control design to achieve the desired gait training in different therapy modes is still open to research and a benchmark problem statement due to significant parametric perturbations and external disturbances (PPED) in pediatric exoskeleton systems. Therefore, this thesis proposes a few robust control schemes for a newly designed pediatric exoskeleton in passive- and active-assist rehabilitation mode.
Supervisor: Dwivedy, Santosha K